Height and area measurement method based on monocular camera three-dimensional distance measurement model

A monocular camera, three-dimensional ranging technology, used in measuring devices, instruments, optical devices, etc.

Active Publication Date: 2015-12-30
SICHUAN UNIV
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Therefore, there are still considerable limitations in the application scenarios

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  • Height and area measurement method based on monocular camera three-dimensional distance measurement model
  • Height and area measurement method based on monocular camera three-dimensional distance measurement model
  • Height and area measurement method based on monocular camera three-dimensional distance measurement model

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[0020] The present invention will be further described below in conjunction with accompanying drawing:

[0021] figure 1 Among them, a method for measuring the height and area of ​​an object based on a three-dimensional ranging model of a monocular camera includes the following steps:

[0022] (1) Obtain the focal length of the camera through the calibration of the monocular camera. The unit of the obtained focal length is the number of pixels per unit distance, which is proportional to the size of the image on the CCD board.

[0023] (2) Model the ranging model of the monocular camera, and calculate the distance from the object to the camera according to the built model. Set the a priori conditions required for model calculation. Here, it is assumed that three values ​​are known: the angle a between the optical axis of the camera lens and the horizontal line, the height h of the camera lens, and the focal length f of the camera.

[0024] (3) According to the above model an...

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Abstract

The invention discloses a height and area measurement method based on a monocular camera three-dimensional distance measurement model. The height and area measurement method comprises the following steps: obtaining the focal length of a camera through monocular camera calibration, wherein the unit of the obtained focal length is the number of pixel points on a unit distance and is in proportion to the imaging size of a CCD plate; modeling the monocular camera three-dimensional distance measurement model and calculating the distance between an object and the camera according to the modeled model; further realizing height and area measurement of the object according to the calculated distance through the model. The height and area measurement method based on the monocular camera three-dimensional distance measurement model requires less priori knowledge and does not need the troublesome process of requiring feature point matching of binocular distance measurement. On the other hand, the height and area measurement method is excellent in instantaneity, and when the 3-mega-pixel camera is adopted and the distance measurement range is within 50 m, the error rate is basically controlled within 5%. After accurately acquiring the angle of depression and focal length of the camera as well as other priori knowledge, the height and area measurement method can be completely applicable to the application fields of highway front obstacle detection and basic identification.

Description

technical field [0001] The present invention designs a method for measuring height and side area of ​​an object based on images captured by a monocular camera, especially a method for measuring height and area of ​​an object based on a monocular three-dimensional ranging model. Background technique [0002] As one of the basic technologies in the field of machine vision, visual ranging has received extensive attention. It occupies an important position in the field of robotics and is widely used in machine vision positioning, target tracking, visual obstacle avoidance, etc., especially as a visual navigation and servo Indispensable basic technology in control. Machine vision measurement is mainly divided into: monocular vision measurement, binocular vision measurement, structured light vision measurement, etc. Due to the limitation of the light source, the application occasions of structured light are relatively fixed; the difficulty of binocular vision lies in the matchi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/02G01B11/28
Inventor 何小海杨谦吴小强兰丽滕奇志
Owner SICHUAN UNIV
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